Path planning and tracking of wheeled mobile robot: using firefly algorithm and kinematic controller combined with sliding mode control

Achouri, Mourad; Zennir, Youcef

doi:10.1007/s40430-024-04772-7

Cited by 1 publication

(1 citation statement)

References 41 publications

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“…The similar achievement is also envisaged under the effect of load disturbances [2]. To achieve such performance, a proper controller designed technique [3][4][5][6][7][8][9][10] in a suitable structure is required. Many authors [11][12][13] have proposed techniques to obtained the desired performance for NCSTR by considering the various dynamical models in single loop configuration.…”

Section: Introductionmentioning

confidence: 90%

Design of Parallel Cascade Controller for Nonlinear Continuous Stirred Tank Reactor

Siddiqui

2024

Preprint

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This work presents an approach to control the temperature of a nonlinear continuous stirred tank reactor (NCSTR) through parallel cascade control structure (PCCS). For the first time, PCCS is used to control the temperature of NCSTR by (1) modelling the dynamic behavior of CSTR with a recirculating jacket heat transfer system into a third order unstable transfer function and (2) using the model matching technique to synthesize the controller parameters. The controller of the secondary loop of PCCS is designed to achieve enhanced regulatory performance whereas, the primary loop controller is designed for better setpoint tracking. The closed loop performance of the proposed method is evaluated by carrying out simulation on the differential equation of the NCSTR and comparing it with other structures such as series cascade control structure (CCS) and parallel control structure (PCS). The response shows that the proposed method provides satisfactory performance in both the environment nominal, perturbed and noisy conditions.

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Section: Introductionmentioning

confidence: 90%

Design of Parallel Cascade Controller for Nonlinear Continuous Stirred Tank Reactor

Siddiqui

2024

Preprint

View full text Add to dashboard Cite

show abstract

Path planning and tracking of wheeled mobile robot: using firefly algorithm and kinematic controller combined with sliding mode control

Cited by 1 publication

References 41 publications

Design of Parallel Cascade Controller for Nonlinear Continuous Stirred Tank Reactor

Design of Parallel Cascade Controller for Nonlinear Continuous Stirred Tank Reactor

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